diff --git "a/json/train/data-00027-of-00160.json" "b/json/train/data-00027-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00027-of-00160.json"
@@ -0,0 +1,527 @@
+{"uid":"15687384985947621849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7956113732988913156.mp4"}
+{"uid":"4670189689383432709","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12050445533436402764.mp4"}
+{"uid":"9415078447288495703","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- place the apple on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"15735105445829526351.mp4"}
+{"uid":"3050327977022100029","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput bowl in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink 2- put bowl in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- put bowl in the sink 2- put plate in the sink 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink 2- put bowl in the sink Q: immediate next step? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e","video":"5361283380693607739.mp4"}
+{"uid":"218179847648428460","text":"\u003ctask:success:discrete:True\u003e\nplace the apple into the bow; Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple into the bow;\n\u003c/PRED\u003e","video":"6004000120978560851.mp4"}
+{"uid":"2665719355068089279","text":"\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table 12- place the apple on the table 13- place the apple on the table 14- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table 12- place the apple on the table 13- place the apple on the table 14- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9162398840618215076.mp4"}
+{"uid":"8830672742086720530","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4402818439016778324.mp4"}
+{"uid":"7376337484564574921","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange into the bowl 2- place the orange into the bowl 3- place the orange on the table 4- place the orange on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e","video":"772845445398041776.mp4"}
+{"uid":"10497749493544572628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18125135499790105381.mp4"}
+{"uid":"10457966610631375525","text":"\u003ctask:success:discrete:True\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e","video":"16111744112234383301.mp4"}
+{"uid":"11480413056947090053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11473872011949462783.mp4"}
+{"uid":"15197019373409382122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11044470663706844240.mp4"}
+{"uid":"3296557786922318880","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink Q: immediate next step? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput bowl in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bowl in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- put bowl in the sink 2- put bowl in the sink 3- put plate in the sink 4- done\n\u003c/PRED\u003e","video":"18243879640608484009.mp4"}
+{"uid":"6685282368211351036","text":"\u003ctask:success:discrete:False\u003e\nput cup in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: put cup in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in the sink 2- put bowl in the sink 3- put bowl in the sink 4- put plate in the sink 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14466179311247275055.mp4"}
+{"uid":"12328438067908166444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1144499772722268781.mp4"}
+{"uid":"4551397010843410635","text":"\u003ctask:success:discrete:True\u003e\nput cup in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in the sink\n\u003c/PRED\u003e","video":"9243387979726992990.mp4"}
+{"uid":"527371508094222201","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the bowl 2- place the apple into the bow; 3- place the orange into the bowl 4- place the apple into the bowl 5- place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e","video":"14677311919607755595.mp4"}
+{"uid":"4420463735608871246","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16990318629793843141.mp4"}
+{"uid":"15182901136380122686","text":"\u003ctask:success:discrete:True\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e","video":"16383372842331801648.mp4"}
+{"uid":"614168573105455861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13226620165710553659.mp4"}
+{"uid":"3476859238937223844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5797465258288777499.mp4"}
+{"uid":"5886460968479039492","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClean the whiteboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4515076545563702925.mp4"}
+{"uid":"3785693608446151266","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl\n\u003c/PRED\u003e","video":"14371485080550822183.mp4"}
+{"uid":"3139146370911773690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17746244323003020989.mp4"}
+{"uid":"10157384613333161161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4921076755069385826.mp4"}
+{"uid":"11335005502052115931","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13872149886128270506.mp4"}
+{"uid":"753823924425936750","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange into the bowl 2- place the apple into the bowl 3- place the orange into the bowl 4- place the orange into the bowl 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e","video":"11378520125713514373.mp4"}
+{"uid":"17881949139987319974","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput bowl in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18171277391383300413.mp4"}
+{"uid":"7097374507452922716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pen in the  pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14842399627879530349.mp4"}
+{"uid":"6948171314341389609","text":"\u003ctask:success:discrete:True\u003e\nplace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e","video":"7934927154289306647.mp4"}
+{"uid":"17098858797561589033","text":"\u003ctask:success:discrete:True\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e","video":"4601083049749616251.mp4"}
+{"uid":"7324747008694430847","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the apple on the table 3- place the apple on the table 4- place the apple on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11997619431880992287.mp4"}
+{"uid":"8046856995135003927","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- place the apple on the table 4- place the apple on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17829479262903249127.mp4"}
+{"uid":"14646292861089750459","text":"\u003ctask:success:discrete:True\u003e\nput bowl in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bowl in the sink\n\u003c/PRED\u003e","video":"7693485727275812156.mp4"}
+{"uid":"1166349421396469915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"943658606284812520.mp4"}
+{"uid":"14224318493092760470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17407465861104692694.mp4"}
+{"uid":"13640664801061317894","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink 2- put bowl in the sink 3- put bowl in the sink 4- put plate in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput plate in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plate in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink 2- put bowl in the sink 3- put bowl in the sink 4- put plate in the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10390410946840725331.mp4"}
+{"uid":"4489722773236779111","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plate in the sink\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink 2- put bowl in the sink 3- put bowl in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- put plate in the sink 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the dishes into the sink . last 20 steps: 1- put cup in the sink 2- put bowl in the sink 3- put bowl in the sink Q: immediate next step? \u003cPRED\u003eA: put plate in the sink\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plate in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput plate in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the dishes into the sink Q: immediate next step? \u003cPRED\u003eA: put plate in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plate in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4902370508606496173.mp4"}
+{"uid":"2658093693245135645","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11515537196282599102.mp4"}
+{"uid":"15730642272555914804","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the bowl 2- place the orange into the bowl 3- place the orange into the bowl 4- place the orange on the table 5- place the orange on the table\n\u003c/PRED\u003e","video":"9053594323227862276.mp4"}
+{"uid":"7984061135592809595","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple into the bow; Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the bow;\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple into the bow;\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple into the bow; Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the bow;\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the bow; 2- place the orange into the bowl 3- place the apple into the bowl 4- place the orange into the bowl 5- place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple into the bow;\n\u003c/PRED\u003e","video":"6941204459819549645.mp4"}
+{"uid":"2402755462668770134","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the orange on the table 3- place the apple on the table 4- place the apple on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"7223676261960179136.mp4"}
+{"uid":"16924327240560095176","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table 12- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table 12- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- done\n\u003c/PRED\u003e","video":"1939279697459356224.mp4"}
+{"uid":"14368429916405668065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic spoon in the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2018138957804209170.mp4"}
+{"uid":"9672052151809648597","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana in left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8541204366093099624.mp4"}
+{"uid":"5672100307167281833","text":"\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"8888341033567414721.mp4"}
+{"uid":"6429635552639648872","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8037511090767588968.mp4"}
+{"uid":"16975542230549730262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14657631407004719583.mp4"}
+{"uid":"4381105643534385220","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange into the bowl 2- place the orange on the table 3- place the orange on the table 4- place the apple on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1342884365440951867.mp4"}
+{"uid":"172099944380694947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep packet on right side of stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10446340603255696162.mp4"}
+{"uid":"6777304899781172312","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table 12- place the apple on the table 13- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer 2- place the apple into the bowl 3- place the apple into the bowl 4- place the apple into the bow; 5- place the orange into the bowl 6- place the apple into the bowl 7- place the orange into the bowl 8- place the orange into the bowl 9- place the orange on the table 10- place the orange on the table 11- place the apple on the table 12- place the apple on the table 13- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- done\n\u003c/PRED\u003e","video":"17836095187264506090.mp4"}
+{"uid":"12177287353962758717","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the bowl 2- place the apple into the bowl 3- place the apple into the bow; 4- place the orange into the bowl 5- place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the top draw then place them in the bowl. Then distribute them to tables in mk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the apple into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5514739598135939610.mp4"}
+{"uid":"2038365351035162457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15257516321935063638.mp4"}
+{"uid":"3648811084460307062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom pen 2- Place the pen in the trolley 3- Pick up the pen from the table 4- Drop the pen in the trolley 5- drop the yellow packet on the tray\n\u003c/PRED\u003e","video":"3646576545649109643.mp4"}
+{"uid":"8400900778441908077","text":"\u003ctask:success:discrete:True\u003e\ndrop the right most pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the right most pen on the tray\n\u003c/PRED\u003e","video":"8513426522320197291.mp4"}
+{"uid":"2546881722742720863","text":"\u003ctask:success:discrete:True\u003e\nPush the trolley towards the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the trolley towards the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- Push the trolley towards the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- Push the trolley towards the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3590765345865940790.mp4"}
+{"uid":"7340019408468457941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6553263595835184414.mp4"}
+{"uid":"6038267735080124055","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Grasp the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grasp the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the sanitizer bottle 2- Place the sanitizer bottle in the trolley 3- Pick up the sticky notes from the table 4- Place the sticky notes in the trolley 5- Grasp the bottom right pen\n\u003c/PRED\u003e","video":"2701567039748350704.mp4"}
+{"uid":"6840838721177958551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12997913274402480752.mp4"}
+{"uid":"10320683650389634625","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the right most pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the right most pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the right most pen on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the right most pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the right most pen on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: drop the right most pen on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- drop the right most pen on the tray 2- Pick up the bottom pen 3- Place the pen in the trolley 4- Pick up the pen from the table 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"9441769888263975989.mp4"}
+{"uid":"16286228446930599204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2816010668049070846.mp4"}
+{"uid":"7156640257117444528","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen 2- Drop the pen in the trolley 3- drop the yellow packet on the tray 4- push the trolley forward 5- push the trolley forward\n\u003c/PRED\u003e","video":"651917757027931142.mp4"}
+{"uid":"14712318250345333150","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the duster on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the duster on the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board 3- Close the marker 4- Pick up the duster 5- Clean the white board Q: next 5 steps? \u003cPRED\u003eA: 1- Put the duster on the stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the duster on the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: Put the duster on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board 3- Close the marker 4- Pick up the duster 5- Clean the white board Q: immediate next step? \u003cPRED\u003eA: Put the duster on the stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clean the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClean the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the duster on the stand\n\u003c/PRED\u003e","video":"2228911895517808622.mp4"}
+{"uid":"16331141396440143641","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sanitizer bottle on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sanitizer bottle on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sanitizer bottle on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sanitizer bottle on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer bottle on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table Q: immediate next step? \u003cPRED\u003eA: drop the sanitizer bottle on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sanitizer bottle on the tray 2- Place the sticky notes in the trolley 3- Grasp the bottom right pen 4- Drop the pen in the trolley 5- drop the right most pen on the tray\n\u003c/PRED\u003e","video":"3197727180342880585.mp4"}
+{"uid":"11410693505500799266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9507001077001301240.mp4"}
+{"uid":"16113757664140314239","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the trolley towards the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the trolley towards the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the trolley towards the wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the trolley towards the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Push the trolley towards the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: immediate next step? \u003cPRED\u003eA: Push the trolley towards the wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Push the trolley towards the wall 2- done\n\u003c/PRED\u003e","video":"3912106062481678572.mp4"}
+{"uid":"5708987686567328436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the brown cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17624336961836651180.mp4"}
+{"uid":"9992323509369716739","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen Q: immediate next step? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the pen from the table 2- Drop the pen in the trolley 3- drop the yellow packet on the tray 4- push the trolley forward 5- push the trolley forward\n\u003c/PRED\u003e","video":"463779155134853567.mp4"}
+{"uid":"2811194429011265136","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottom right pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottom right pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottom right pen on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottom right pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the bottom right pen on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley Q: immediate next step? \u003cPRED\u003eA: drop the bottom right pen on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottom right pen on the tray 2- drop the right most pen on the tray 3- Pick up the bottom pen 4- Place the pen in the trolley 5- Pick up the pen from the table\n\u003c/PRED\u003e","video":"15048805666198491045.mp4"}
+{"uid":"18401196037982377708","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place peanut butter packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack Q: immediate next step? \u003cPRED\u003eA: place peanut butter packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack. last 20 steps: 1- place the pipcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place peanut butter packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace peanut butter packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place peanut butter packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack. last 20 steps: 1- place the pipcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: place peanut butter packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace peanut butter packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13783438051503135930.mp4"}
+{"uid":"873524393712360125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the lids on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6165000590403308707.mp4"}
+{"uid":"8882388802314785129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13312269089233992041.mp4"}
+{"uid":"1616346489651998945","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet on the tray 2- push the trolley forward 3- push the trolley forward 4- done\n\u003c/PRED\u003e","video":"14858663249157649304.mp4"}
+{"uid":"15260136498254545906","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8538927946799177936.mp4"}
+{"uid":"16545118338668906704","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sanitizer bottle from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sanitizer bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: Pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sanitizer bottle from the table 2- Pick up the sticky notes from the table 3- Place the sticky notes in the trolley 4- Grasp the bottom right pen 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"11525654201808600461.mp4"}
+{"uid":"11851125019480012263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16204142070773172143.mp4"}
+{"uid":"18332282151889621106","text":"\u003ctask:success:discrete:True\u003e\ndrop the yellow packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow packet on the tray\n\u003c/PRED\u003e","video":"11358029936212335235.mp4"}
+{"uid":"6168499536036435143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Rip van packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16711641958705062302.mp4"}
+{"uid":"2196092777063394630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8146137070746346494.mp4"}
+{"uid":"9151099397109321026","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"8612434864271206087.mp4"}
+{"uid":"8569998118994332978","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the trolley 2- Pick up the pen from the table 3- Drop the pen in the trolley 4- drop the yellow packet on the tray 5- push the trolley forward\n\u003c/PRED\u003e","video":"15356939431333100530.mp4"}
+{"uid":"10818611183089875554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12153897717697458482.mp4"}
+{"uid":"8704007506185638744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop pistachio in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13972402621780959957.mp4"}
+{"uid":"6463522763753605937","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Clean the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClean the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: Clean the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board 3- Close the marker 4- Pick up the duster Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the white board 2- Put the duster on the stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board 3- Close the marker 4- Pick up the duster Q: immediate next step? \u003cPRED\u003eA: Clean the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16857024265203207138.mp4"}
+{"uid":"18372065173227958939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green packet in black basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18401117438956659455.mp4"}
+{"uid":"14353513720144839909","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e","video":"13020931971154736453.mp4"}
+{"uid":"8584028964889253975","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14212521616289699400.mp4"}
+{"uid":"5110849325439252940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14589430808211934822.mp4"}
+{"uid":"16005050343477590530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6485374890329068990.mp4"}
+{"uid":"5617535367201732309","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11765856837207372470.mp4"}
+{"uid":"2088031412422083753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10742889486222824533.mp4"}
+{"uid":"5313329671676737868","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Release the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Release the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pen in the trolley 2- Pick up the bottom pen 3- Place the pen in the trolley 4- Pick up the pen from the table 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"13719206434860184841.mp4"}
+{"uid":"3797302408129985047","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sanitizer bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sanitizer bottle 2- Pick up the sticky notes from the table 3- Place the sticky notes in the trolley 4- Grasp the bottom right pen 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"15949353049778025743.mp4"}
+{"uid":"6194488262226414339","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the trolley 2- Pick up the bottom pen 3- Place the pen in the trolley 4- Pick up the pen from the table 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"1685385975259122462.mp4"}
+{"uid":"3951317957500336094","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"9727147264100365026.mp4"}
+{"uid":"9864612352946267704","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the right stack on the blue plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4639239406188497893.mp4"}
+{"uid":"15529961486889497122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4533626618277699339.mp4"}
+{"uid":"5769173354542967545","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sticky notes on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the sticky notes on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sticky notes on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sticky notes on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley Q: immediate next step? \u003cPRED\u003eA: drop the sticky notes on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sticky notes on the tray 2- Drop the pen in the trolley 3- drop the right most pen on the tray 4- Pick up the bottom pen 5- Place the pen in the trolley\n\u003c/PRED\u003e","video":"9853890611294203594.mp4"}
+{"uid":"9734368091252313407","text":"\u003ctask:success:discrete:True\u003e\nRelease the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the pen in the trolley\n\u003c/PRED\u003e","video":"18134030617689254990.mp4"}
+{"uid":"12433159148039964195","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the bottom right pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the bottom right pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the bottom right pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the bottom right pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Grasp the bottom right pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley Q: immediate next step? \u003cPRED\u003eA: Grasp the bottom right pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the bottom right pen 2- Drop the pen in the trolley 3- drop the right most pen on the tray 4- Pick up the bottom pen 5- Place the pen in the trolley\n\u003c/PRED\u003e","video":"14317499292941140753.mp4"}
+{"uid":"16463793808803520732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12165224537861309889.mp4"}
+{"uid":"16464298671787825923","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom left pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom left pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom left pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom left pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom left pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom left pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom left pen from the table 2- Place the pen in the trolley 3- Pick up the pen from the table 4- Drop the pen in the trolley 5- drop the yellow packet on the tray\n\u003c/PRED\u003e","video":"8509989887016705096.mp4"}
+{"uid":"3457331565984083710","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notes in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notes in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table Q: immediate next step? \u003cPRED\u003eA: Place the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notes in the trolley 2- Grasp the bottom right pen 3- Drop the pen in the trolley 4- drop the right most pen on the tray 5- Pick up the bottom pen\n\u003c/PRED\u003e","video":"3337811165025364058.mp4"}
+{"uid":"3558561617560114435","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- Close the marker 2- Pick up the duster 3- Clean the white board 4- Put the duster on the stand 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board Q: immediate next step? \u003cPRED\u003eA: Close the marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: Close the marker\n\u003c/PRED\u003e","video":"2590098704454653172.mp4"}
+{"uid":"796219139385601064","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packet in the container 7- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packet in the container 7- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"12722330516518349457.mp4"}
+{"uid":"13599738156590308772","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Write on the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nWrite on the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14452654996629563063.mp4"}
+{"uid":"10557980329048377869","text":"\u003ctask:success:discrete:True\u003e\ndrop the bottom pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bottom pen on the tray\n\u003c/PRED\u003e","video":"2433882477246752915.mp4"}
+{"uid":"16114114222841311823","text":"\u003ctask:success:discrete:True\u003e\npush the trolley forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e","video":"6079534236436969788.mp4"}
+{"uid":"7991618202603620564","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottom pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottom pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottom pen on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottom pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the bottom pen on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray Q: immediate next step? \u003cPRED\u003eA: drop the bottom pen on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottom pen on the tray 2- Pick up the pen from the table 3- Drop the pen in the trolley 4- drop the yellow packet on the tray 5- push the trolley forward\n\u003c/PRED\u003e","video":"17177126858286846745.mp4"}
+{"uid":"12230019968908758187","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the sticky notes in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the sticky notes in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Release the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley Q: immediate next step? \u003cPRED\u003eA: Release the sticky notes in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Release the sticky notes in the trolley 2- Grasp the bottom right pen 3- Drop the pen in the trolley 4- drop the right most pen on the tray 5- Pick up the bottom pen\n\u003c/PRED\u003e","video":"15522060084873978935.mp4"}
+{"uid":"6661754248688494289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18270836506598171642.mp4"}
+{"uid":"12781815916657853154","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush the trolley forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the trolley forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: immediate next step? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- push the trolley forward 2- push the trolley forward 3- done\n\u003c/PRED\u003e","video":"13818716585622241308.mp4"}
+{"uid":"2227059833616524482","text":"\u003ctask:success:discrete:True\u003e\nPush the trolley to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Push the trolley to the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- Push the trolley to the wall Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- Push the trolley to the wall Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Move away from the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward Q: immediate next step? \u003cPRED\u003eA: Move away from the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the trolley 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Move away from the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward Q: immediate next step? \u003cPRED\u003eA: Move away from the wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the wall 2- done\n\u003c/PRED\u003e","video":"17820195804769884135.mp4"}
+{"uid":"3315193308630535035","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5708878983937932461.mp4"}
+{"uid":"17457012817585666384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17579782353642839791.mp4"}
+{"uid":"3766267540876952415","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nWrite on the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: Write on the white board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Write on the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Write on the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Write on the white board 2- Close the marker 3- Pick up the duster 4- Clean the white board 5- Put the duster on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nWrite on the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker Q: immediate next step? \u003cPRED\u003eA: Write on the white board\n\u003c/PRED\u003e","video":"16867999408784740562.mp4"}
+{"uid":"2510870429929552010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow marker in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14889646500467590760.mp4"}
+{"uid":"2009750235752925451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1476919148660039315.mp4"}
+{"uid":"10790228368481220352","text":"\u003ctask:success:discrete:False\u003e\nplace the pipcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pipcorn packet in the tray 2- place peanut butter packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pipcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack Q: immediate next step? \u003cPRED\u003eA: place the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pipcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pipcorn packet in the tray\n\u003c/PRED\u003e","video":"11486153405521574705.mp4"}
+{"uid":"16636347659801750215","text":"\u003ctask:success:discrete:True\u003e\ndrop the bottom right pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bottom right pen on the tray\n\u003c/PRED\u003e","video":"6064681903401893840.mp4"}
+{"uid":"3286106572890729837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace oatmeal packets in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15228996676658097683.mp4"}
+{"uid":"17237568572107751571","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the trolley 2- drop the right most pen on the tray 3- Pick up the bottom pen 4- Place the pen in the trolley 5- Pick up the pen from the table\n\u003c/PRED\u003e","video":"12406942010613635456.mp4"}
+{"uid":"2286256957121226369","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packet in the container 7- Place the sugar packet in the container 8- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packet in the container 7- Place the sugar packet in the container 8- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"8750101657764813050.mp4"}
+{"uid":"6347870766493203315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the green bag on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1452892338101945813.mp4"}
+{"uid":"3016665232314947505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4622555482865433273.mp4"}
+{"uid":"8398018904655462692","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sanitizer bottle in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sanitizer bottle in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sanitizer bottle in the trolley 2- Pick up the sticky notes from the table 3- Place the sticky notes in the trolley 4- Grasp the bottom right pen 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"1353747681055285505.mp4"}
+{"uid":"1837909268951159433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the paper clip in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1096589066575130892.mp4"}
+{"uid":"6984776634031424810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15222925394183561334.mp4"}
+{"uid":"10733458362864760694","text":"\u003ctask:success:discrete:True\u003e\ndrop the sticky notes on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the sticky notes on the tray\n\u003c/PRED\u003e","video":"1837998723498638526.mp4"}
+{"uid":"16115692103160066982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16696912817014334091.mp4"}
+{"uid":"11690000179118051638","text":"\u003ctask:success:discrete:True\u003e\nPlace the yellow packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the yellow packet in the trolley\n\u003c/PRED\u003e","video":"17916603927107758716.mp4"}
+{"uid":"5710739001092851880","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPush the trolley to the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Push the trolley to the wall\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Push the trolley to the wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPush the trolley to the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Push the trolley to the wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: immediate next step? \u003cPRED\u003eA: Push the trolley to the wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Push the trolley to the wall 2- done\n\u003c/PRED\u003e","video":"1357993833771522169.mp4"}
+{"uid":"3587405402578187656","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sanitizer bottle in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer bottle in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sanitizer bottle in the trolley 2- Pick up the sticky notes from the table 3- Place the sticky notes in the trolley 4- Grasp the bottom right pen 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"18339075632269361649.mp4"}
+{"uid":"6085383076991249287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4759022100313072124.mp4"}
+{"uid":"3071145236035199649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8966595354744418972.mp4"}
+{"uid":"4127869233612532904","text":"\u003ctask:success:discrete:True\u003e\nPick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen from the table\n\u003c/PRED\u003e","video":"17031462667385331383.mp4"}
+{"uid":"8023693371663909927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11041432320262392401.mp4"}
+{"uid":"7487756652131216642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12733923866444274036.mp4"}
+{"uid":"9776457818862601561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3001429309468589053.mp4"}
+{"uid":"4884031745689719037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the pen stand towards tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14428556520090843462.mp4"}
+{"uid":"7955751172816251647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13663107999670866459.mp4"}
+{"uid":"5877504757704641161","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the green marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the green marker 2- Write on the white board 3- Close the marker 4- Pick up the duster 5- Clean the white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: Open the green marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5707852205608653079.mp4"}
+{"uid":"14453830234915404923","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7952464087529245026.mp4"}
+{"uid":"18193257713502223588","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"15847706034674924924.mp4"}
+{"uid":"18246185872783204402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the cap to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16219904373316113518.mp4"}
+{"uid":"13231009852575950129","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the trolley towards the glass door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the trolley towards the glass door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the trolley towards the glass door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the trolley towards the glass door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Move the trolley towards the glass door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: immediate next step? \u003cPRED\u003eA: Move the trolley towards the glass door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move the trolley towards the glass door 2- push the trolley forward 3- done\n\u003c/PRED\u003e","video":"8526758256335670389.mp4"}
+{"uid":"16711207131499685828","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the rightmost pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the rightmost pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Pick up the rightmost pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the rightmost pen from the table 2- Pick up the bottom pen 3- Place the pen in the trolley 4- Pick up the pen from the table 5- Drop the pen in the trolley\n\u003c/PRED\u003e","video":"16868922258490024697.mp4"}
+{"uid":"12492121934477738073","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow pack from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow pack from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow pack from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow pack from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow pack from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow pack from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow pack from the table 2- push the trolley forward 3- push the trolley forward 4- done\n\u003c/PRED\u003e","video":"15969797599108864372.mp4"}
+{"uid":"9061106141514731408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush a chair into the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7044597364454100870.mp4"}
+{"uid":"15821549828448722248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9460836948868667212.mp4"}
+{"uid":"14600173319428640491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8550992244154656851.mp4"}
+{"uid":"18345816285888403883","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the sticky notes from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley Q: immediate next step? \u003cPRED\u003eA: Pick up the sticky notes from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the sticky notes from the table 2- Place the sticky notes in the trolley 3- Grasp the bottom right pen 4- Drop the pen in the trolley 5- drop the right most pen on the tray\n\u003c/PRED\u003e","video":"11490163191651279278.mp4"}
+{"uid":"8456271871724191572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8155862985775649846.mp4"}
+{"uid":"13234767268249083557","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"2751769232069457120.mp4"}
+{"uid":"3205642029546652162","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board 3- Close the marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the duster 2- Clean the white board 3- Put the duster on the stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it. last 20 steps: 1- Open the green marker 2- Write on the white board 3- Close the marker Q: immediate next step? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please write on the whiteboard and then erase it Q: immediate next step? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5466925463722548417.mp4"}
+{"uid":"12445121329501145324","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen Q: immediate next step? \u003cPRED\u003eA: Place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the trolley 2- Drop the pen in the trolley 3- drop the yellow packet on the tray 4- push the trolley forward 5- push the trolley forward\n\u003c/PRED\u003e","video":"5008217112124429229.mp4"}
+{"uid":"6354137999788956624","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the trolley 2- push the trolley forward 3- push the trolley forward 4- done\n\u003c/PRED\u003e","video":"7666902038615731779.mp4"}
+{"uid":"4379355408040668804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16119292003496879649.mp4"}
+{"uid":"13113796244790633989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toffee in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11700909108619905211.mp4"}
+{"uid":"5460535510936264002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4080238589966193859.mp4"}
+{"uid":"2323778075462196469","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove close to the white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3363578233167702977.mp4"}
+{"uid":"15378098692973616149","text":"\u003ctask:success:discrete:True\u003e\nPick up the sanitizer bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the sanitizer bottle from the table\n\u003c/PRED\u003e","video":"12235179266150178883.mp4"}
+{"uid":"209557383663124299","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"5387884274540143717.mp4"}
+{"uid":"12934393928607390093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nexit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14389329684316808177.mp4"}
+{"uid":"13649511742929559035","text":"\u003ctask:success:discrete:True\u003e\nRelease the sticky notes in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the sticky notes in the trolley\n\u003c/PRED\u003e","video":"12022853297928543242.mp4"}
+{"uid":"9538157869974733175","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow pack in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow pack in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow pack in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow pack in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the yellow pack in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Place the yellow pack in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow pack in the trolley 2- push the trolley forward 3- push the trolley forward 4- done\n\u003c/PRED\u003e","video":"14173578943619155745.mp4"}
+{"uid":"11690560904513579468","text":"\u003ctask:success:discrete:True\u003e\nPick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the pen\n\u003c/PRED\u003e","video":"17566132748925343543.mp4"}
+{"uid":"10592095435188141331","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the holder 2- drop the yellow packet on the tray 3- push the trolley forward 4- push the trolley forward 5- done\n\u003c/PRED\u003e","video":"12789450571217847855.mp4"}
+{"uid":"13420022905680690932","text":"\u003ctask:success:discrete:True\u003e\nGrasp the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the sanitizer bottle\n\u003c/PRED\u003e","video":"12930164076757081072.mp4"}
+{"uid":"12250780749893466753","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e","video":"14645158886643413553.mp4"}
+{"uid":"6392213976716549235","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the transparent tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5960323314145854537.mp4"}
+{"uid":"14045299176557083983","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: drop the pen on the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen on the tray 2- drop the yellow packet on the tray 3- push the trolley forward 4- push the trolley forward 5- done\n\u003c/PRED\u003e","video":"13642384785271972536.mp4"}
+{"uid":"17169801078321378682","text":"\u003ctask:success:discrete:True\u003e\nMove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the table\n\u003c/PRED\u003e","video":"16615200601420543320.mp4"}
+{"uid":"6724316515108401400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the brush Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12600690743866670809.mp4"}
+{"uid":"14435448072345299364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue book in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14501668919288367967.mp4"}
+{"uid":"12776423480770710715","text":"\u003ctask:success:discrete:True\u003e\nplace peanut butter packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack. last 20 steps: 1- place the pipcorn packet in the tray 2- place peanut butter packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Comply with the employee and provide an alternate snack. last 20 steps: 1- place the pipcorn packet in the tray 2- place peanut butter packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place peanut butter packet on the table\n\u003c/PRED\u003e","video":"3465081538550558381.mp4"}
+{"uid":"2374590063713195113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6525140562369495977.mp4"}
+{"uid":"4960401256971124517","text":"\u003ctask:success:discrete:True\u003e\npush the trolley forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward 15- push the trolley forward Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward 15- push the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5701632100117344699.mp4"}
+{"uid":"2829829828635091602","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush the trolley forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward Q: immediate next step? \u003cPRED\u003eA: push the trolley forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley 13- drop the yellow packet on the tray 14- push the trolley forward Q: next 5 steps? \u003cPRED\u003eA: 1- push the trolley forward 2- done\n\u003c/PRED\u003e","video":"8900368255712804725.mp4"}
+{"uid":"15494128812322008638","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom right pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom right pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom right pen from the table 2- drop the right most pen on the tray 3- Pick up the bottom pen 4- Place the pen in the trolley 5- Pick up the pen from the table\n\u003c/PRED\u003e","video":"17456668213173575698.mp4"}
+{"uid":"1007642377377608771","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put all the brown sugar packs in the tray with the other brown ones. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"3169836019664627561.mp4"}
+{"uid":"4168015661753684104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13513690254508648570.mp4"}
+{"uid":"15205607679798490720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4525030800761731586.mp4"}
+{"uid":"8336576529742064393","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow packet in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow packet in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow packet in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow packet in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley Q: immediate next step? \u003cPRED\u003eA: Place the yellow packet in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen 7- Drop the pen in the trolley 8- drop the right most pen on the tray 9- Pick up the bottom pen 10- Place the pen in the trolley 11- Pick up the pen from the table 12- Drop the pen in the trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow packet in the trolley 2- push the trolley forward 3- push the trolley forward 4- done\n\u003c/PRED\u003e","video":"987781551056330546.mp4"}
+{"uid":"12835844600555626154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knives in the knives holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10276228218138280776.mp4"}
+{"uid":"7629770107077066452","text":"\u003ctask:success:discrete:True\u003e\nPick up the bottom right pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottom right pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pen in the trolley Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen Q: immediate next step? \u003cPRED\u003eA: Drop the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put office supplies back onto meeting room cart, then  move the cart back into the corner. last 20 steps: 1- Move to the table 2- Pick up the sanitizer bottle from the table 3- Place the sanitizer bottle in the trolley 4- Pick up the sticky notes from the table 5- Place the sticky notes in the trolley 6- Grasp the bottom right pen Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen in the trolley 2- drop the right most pen on the tray 3- Pick up the bottom pen 4- Place the pen in the trolley 5- Pick up the pen from the table\n\u003c/PRED\u003e","video":"17536572150787355862.mp4"}
+{"uid":"3940898563158000276","text":"\u003ctask:success:discrete:True\u003e\npick up the sanitizer bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sanitizer bottle\n\u003c/PRED\u003e","video":"6468733846754778180.mp4"}
+{"uid":"1236142242063064367","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e","video":"4305479130014982237.mp4"}
+{"uid":"3678428330521434316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13777774407764589188.mp4"}
+{"uid":"811085047642315352","text":"\u003ctask:success:discrete:False\u003e\nput marker in the organiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back Q: next 5 steps? \u003cPRED\u003eA: 1- put marker in the organiser 2- put pen in the organaiser 3- move organiser to the back 4- put remote control in the drawer 5- put data cable in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put marker in the organiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put marker in the organiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: put marker in the organiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput marker in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back Q: immediate next step? \u003cPRED\u003eA: put marker in the organiser\n\u003c/PRED\u003e","video":"5151360771838068851.mp4"}
+{"uid":"7302532196706426958","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- move organiser to the back 3- put marker in the organiser 4- put pen in the organaiser 5- move organiser to the back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"8702448020869607120.mp4"}
+{"uid":"3693793918445044081","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer 10- move organiser to the front Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer 10- move organiser to the front Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place keys on the table 3- done\n\u003c/PRED\u003e","video":"10476342805835932718.mp4"}
+{"uid":"8708428628094126486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1565061010975847200.mp4"}
+{"uid":"12882931763950355994","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: insert key on the lock of drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ninsert key on the lock of drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12148526419417057471.mp4"}
+{"uid":"1763569813045783503","text":"\u003ctask:success:discrete:True\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"16214235043983294036.mp4"}
+{"uid":"5733952974518785975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart 50 packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14338048382592902328.mp4"}
+{"uid":"4995071747360207500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13958094764949074174.mp4"}
+{"uid":"2246562828313152133","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer 6- place the packet in the drawer 7- place the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer 6- place the packet in the drawer 7- place the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e","video":"11064860343507007134.mp4"}
+{"uid":"16517310998625931540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5369969397998316527.mp4"}
+{"uid":"4268247672009230414","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put data cable in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput data cable in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: put data cable in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put data cable in the drawer 2- move organiser to the front 3- close the drawer 4- place keys on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput data cable in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer Q: immediate next step? \u003cPRED\u003eA: put data cable in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put data cable in the drawer\n\u003c/PRED\u003e","video":"13362118290645354548.mp4"}
+{"uid":"11805779716425432032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar pouch in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9015930530310227358.mp4"}
+{"uid":"16295022904625379037","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move organiser to the back 2- put marker in the organiser 3- put pen in the organaiser 4- move organiser to the back 5- put remote control in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove organiser to the back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer Q: immediate next step? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove organiser to the back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"657926130751225426.mp4"}
+{"uid":"13124908381137613452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14218595816294403113.mp4"}
+{"uid":"2646443611735270419","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput water bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13821192515588334195.mp4"}
+{"uid":"13254229759169807382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2551346898509655489.mp4"}
+{"uid":"5680728377839779816","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12371550255915518140.mp4"}
+{"uid":"1318641579116155761","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e","video":"1360872914808433591.mp4"}
+{"uid":"1794030405092971941","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6836049140726189456.mp4"}
+{"uid":"13454809628855526982","text":"\u003ctask:success:discrete:True\u003e\nput remote control in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put remote control in the drawer\n\u003c/PRED\u003e","video":"13590961762381303085.mp4"}
+{"uid":"5219381400042860574","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15873826780562530774.mp4"}
+{"uid":"12558724404946889936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11386959264024839065.mp4"}
+{"uid":"10406039955409406637","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e","video":"9649024624250924560.mp4"}
+{"uid":"4494005016816934245","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop candy on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8035881091727126012.mp4"}
+{"uid":"86304759100394616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14236183123778920416.mp4"}
+{"uid":"8901355147956593554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick keys from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick keys from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9585895933003101675.mp4"}
+{"uid":"14892747931331420883","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen in the organaiser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: put pen in the organaiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen in the organaiser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser Q: immediate next step? \u003cPRED\u003eA: put pen in the organaiser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen in the organaiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pen in the organaiser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser Q: next 5 steps? \u003cPRED\u003eA: 1- put pen in the organaiser 2- move organiser to the back 3- put remote control in the drawer 4- put data cable in the drawer 5- move organiser to the front\n\u003c/PRED\u003e","video":"11773119893456547989.mp4"}
+{"uid":"13304488208109166619","text":"\u003ctask:success:discrete:False\u003e\nmove organiser to the back Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove organiser to the back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser Q: immediate next step? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: move organiser to the back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser Q: next 5 steps? \u003cPRED\u003eA: 1- move organiser to the back 2- put remote control in the drawer 3- put data cable in the drawer 4- move organiser to the front 5- close the drawer\n\u003c/PRED\u003e","video":"1949674240107201441.mp4"}
+{"uid":"14530083380848144483","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"469533293214596369.mp4"}
+{"uid":"11502755771019906330","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place keys on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace keys on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer 10- move organiser to the front 11- close the drawer 12- place keys on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer 10- move organiser to the front 11- close the drawer 12- place keys on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6455649744413322180.mp4"}
+{"uid":"2055041275366785306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11363682735158842607.mp4"}
+{"uid":"8449412829835971506","text":"\u003ctask:success:discrete:False\u003e\ninsert key on the lock of drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ninsert key on the lock of drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: insert key on the lock of drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table Q: immediate next step? \u003cPRED\u003eA: insert key on the lock of drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: insert key on the lock of drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table Q: next 5 steps? \u003cPRED\u003eA: 1- insert key on the lock of drawer 2- open the drawer 3- move organiser to the back 4- put marker in the organiser 5- put pen in the organaiser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: insert key on the lock of drawer\n\u003c/PRED\u003e","video":"2273695399495388853.mp4"}
+{"uid":"269039238159664313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut purple pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12019222307211127329.mp4"}
+{"uid":"12310983593059884795","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1061797718396152667.mp4"}
+{"uid":"11046684597548083656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15304864631087435701.mp4"}
+{"uid":"13427465291610879322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12704984934429713576.mp4"}
+{"uid":"17649967942051854936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"711682365622366678.mp4"}
+{"uid":"10322911897528793983","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer\n\u003c/PRED\u003e","video":"8781826782929805066.mp4"}
+{"uid":"10210784408871544809","text":"\u003ctask:success:discrete:False\u003e\nmove organiser to the front Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move organiser to the front\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove organiser to the front Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move organiser to the front\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- move organiser to the front 2- close the drawer 3- place keys on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: move organiser to the front\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer Q: immediate next step? \u003cPRED\u003eA: move organiser to the front\n\u003c/PRED\u003e","video":"8080841385794091117.mp4"}
+{"uid":"7103764340219530124","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer 6- place the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- place the packet in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer 6- place the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e","video":"6672615720109094661.mp4"}
+{"uid":"4831364740415549351","text":"\u003ctask:success:discrete:False\u003e\nput remote control in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput remote control in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back Q: next 5 steps? \u003cPRED\u003eA: 1- put remote control in the drawer 2- put data cable in the drawer 3- move organiser to the front 4- close the drawer 5- place keys on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put remote control in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back Q: immediate next step? \u003cPRED\u003eA: put remote control in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put remote control in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: put remote control in the drawer\n\u003c/PRED\u003e","video":"1486763012271036039.mp4"}
+{"uid":"9811376084763002994","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick keys from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick keys from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick keys from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick keys from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick keys from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: pick keys from the table\n\u003c/PRED\u003e","video":"5429304800513738386.mp4"}
+{"uid":"17792311718545578958","text":"\u003ctask:success:discrete:True\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"13155886407579947633.mp4"}
+{"uid":"7535025818529849153","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the snacks into the drawer Q: immediate next step? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the snacks into the drawer. last 20 steps: 1- place the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the drawer 2- place the packet in the drawer 3- place the packet in the drawer 4- place the packet in the drawer 5- place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9585945512643107897.mp4"}
+{"uid":"12102744847600239616","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer 10- move organiser to the front 11- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place keys on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again. last 20 steps: 1- pick keys from the table 2- insert key on the lock of drawer 3- open the drawer 4- move organiser to the back 5- put marker in the organiser 6- put pen in the organaiser 7- move organiser to the back 8- put remote control in the drawer 9- put data cable in the drawer 10- move organiser to the front 11- close the drawer Q: immediate next step? \u003cPRED\u003eA: place keys on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace keys on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace keys on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place keys on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Unlock the file cabinet and put away the pen, the highlighter, the gamepadand the charging cable before locking up the file cabinet again Q: immediate next step? \u003cPRED\u003eA: place keys on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place keys on the table\n\u003c/PRED\u003e","video":"11591076165843669684.mp4"}
+{"uid":"14200139815186119723","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"12423903388231007582.mp4"}
+{"uid":"4458956395557245225","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13859218379760646252.mp4"}
+{"uid":"4706634777254997279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2349670810863724441.mp4"}
+{"uid":"12124094580351856394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink marker in almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10659530066909462472.mp4"}
+{"uid":"6219218886798947421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1972509203179855895.mp4"}
+{"uid":"17880518773078900147","text":"\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"1162532129413209780.mp4"}
+{"uid":"9268091866731764013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13650454521395652773.mp4"}
+{"uid":"7951728904380585157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the pistachio with the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17423974918167733292.mp4"}
+{"uid":"9833262080535687953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7279478263597252286.mp4"}
+{"uid":"11769337279842771407","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"14992087634557696045.mp4"}
+{"uid":"10710574435941103842","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place can in the tray 3- place can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"16597147843233180668.mp4"}
+{"uid":"10291646331036416613","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"3136339020727897379.mp4"}
+{"uid":"1410584293132708782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottom right black pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14206647386010344433.mp4"}
+{"uid":"8075421731199166332","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"12959616391703284750.mp4"}
+{"uid":"7660752687367582602","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"12231408149492162975.mp4"}
+{"uid":"1496712235956221359","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"10493883732673524311.mp4"}
+{"uid":"13789341427678173339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"850038058974147198.mp4"}
+{"uid":"15656768261558091655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9007269766171857560.mp4"}
+{"uid":"4220351091324348130","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"13146295641436600938.mp4"}
+{"uid":"12894075091083912807","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- place can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9500404133005970987.mp4"}
+{"uid":"3355087639278117810","text":"\u003ctask:success:discrete:True\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"4400473673148505047.mp4"}
+{"uid":"10904462599366606939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the wipe into the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5267997925894730141.mp4"}
+{"uid":"5748484236050065741","text":"\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"2294776023823214013.mp4"}
+{"uid":"13380069805758038718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the battery in the battery charger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13329065261144733346.mp4"}
+{"uid":"8657816209574659835","text":"\u003ctask:success:discrete:True\u003e\nput cup in bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the bowl of cereal into the trash. last 20 steps: 1- pick up cup 2- put cup in bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup in bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the bowl of cereal into the trash Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the bowl of cereal into the trash. last 20 steps: 1- pick up cup 2- put cup in bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10362926001128574977.mp4"}
+{"uid":"3567166441519005216","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"11090814326680614997.mp4"}
+{"uid":"9478245536236107011","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray 6- put the can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray 6- put the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3319097415648605871.mp4"}
+{"uid":"490041427222574569","text":"\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"2669420424782600955.mp4"}
+{"uid":"3152969183053997430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  plastic spoons in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4469560922798603961.mp4"}
+{"uid":"12956478857707463751","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray 6- place can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16752444446140643557.mp4"}
+{"uid":"15709097394554327582","text":"\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"10333493887316858901.mp4"}
+{"uid":"844633664521863842","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2020217430508126355.mp4"}
+{"uid":"16982210690442238293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11519073800880277324.mp4"}
+{"uid":"14538225635420079898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18215297066382969974.mp4"}
+{"uid":"1853525926283211460","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9846187160061379428.mp4"}
+{"uid":"3597414432224128251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7432057096053632319.mp4"}
+{"uid":"17719859510464740375","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15581613507643287213.mp4"}
+{"uid":"13907116887229101133","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"15939308966664423386.mp4"}
+{"uid":"16822838939733037506","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"14724345809164675551.mp4"}
+{"uid":"2171154598505150506","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup in bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup in bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup in bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the bowl of cereal into the trash. last 20 steps: 1- pick up cup Q: immediate next step? \u003cPRED\u003eA: put cup in bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the bowl of cereal into the trash Q: immediate next step? \u003cPRED\u003eA: put cup in bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup in bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the bowl of cereal into the trash. last 20 steps: 1- pick up cup Q: next 5 steps? \u003cPRED\u003eA: 1- put cup in bin 2- done\n\u003c/PRED\u003e","video":"5105855884976879061.mp4"}
+{"uid":"15429444943098533794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pen in the right side cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6218155893911543377.mp4"}
+{"uid":"4109507388946001487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pen in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11979923585613889038.mp4"}
+{"uid":"7729447839827571075","text":"\u003ctask:success:discrete:False\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray 3- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- place can in the tray 3- place can in the tray 4- done\n\u003c/PRED\u003e","video":"14629977259407442322.mp4"}
+{"uid":"9142150749188562594","text":"\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: 1- place can in the tray 2- place can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"10229876545387369360.mp4"}
+{"uid":"15927956182482601191","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"12382032599506399253.mp4"}
+{"uid":"11494726944485186274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10874870850739492682.mp4"}
+{"uid":"15464565472677042460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2729211539843225539.mp4"}
+{"uid":"12407477877064470032","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13633063188113287323.mp4"}
+{"uid":"8433571616459097441","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12978329234752937192.mp4"}
+{"uid":"3943813624032356390","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4848233516705424545.mp4"}
+{"uid":"1319034195386675251","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17671704149351100325.mp4"}
+{"uid":"12711627541538419492","text":"\u003ctask:success:discrete:False\u003e\nplace can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place can in the tray 2- place can in the tray 3- place can in the tray 4- place can in the tray 5- place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cold brews back into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can in the tray\n\u003c/PRED\u003e","video":"11794635522968906770.mp4"}
+{"uid":"563756271369489144","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"209458588966841074.mp4"}
+{"uid":"6057147796568073710","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"5194776524616507530.mp4"}
+{"uid":"6408320199800752622","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- put the orange into the white bowl 3- put the orange into the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"7857181550417884625.mp4"}
+{"uid":"652377305638668361","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"11208302154425046883.mp4"}
+{"uid":"13911021127767390862","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5747081726739795132.mp4"}
+{"uid":"7403299261269768823","text":"\u003ctask:success:discrete:False\u003e\nput the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the white bowl 2- put the orange into the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e","video":"10596466912208478015.mp4"}
+{"uid":"6017596761865817414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5131417513878876938.mp4"}
+{"uid":"16932178936812626431","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e","video":"17085232193694321943.mp4"}
+{"uid":"5303838734404348154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15999630451581475535.mp4"}
+{"uid":"15313827969814589809","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2239571225259946134.mp4"}
+{"uid":"1317782560710635204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"782165373043549383.mp4"}
+{"uid":"10580977778415022343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10450698193088005659.mp4"}
+{"uid":"7810633077622848207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17463468909786363544.mp4"}
+{"uid":"15724773712094999998","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the white bowl 4- unstack the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3401804429428534821.mp4"}
+{"uid":"11040046530352301017","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the white bowl 3- put the orange into the white bowl 4- put the orange into the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10816646086509901493.mp4"}
+{"uid":"5593791020069790160","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e","video":"1821902252577957558.mp4"}
+{"uid":"2865767403825045910","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10751970593115812307.mp4"}
+{"uid":"15427843547490139240","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- put the orange into the white bowl 3- put the orange into the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6049448780034241660.mp4"}
+{"uid":"18322216384378766071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14160157085184092730.mp4"}
+{"uid":"8925937353460448034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12035229775503723876.mp4"}
+{"uid":"5464231445740051833","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack the glasses Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11771639049699474578.mp4"}
+{"uid":"732306879971267130","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9731692597443056013.mp4"}
+{"uid":"9236692173804803094","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the white bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e","video":"811860463484522290.mp4"}
+{"uid":"1400039493913170059","text":"\u003ctask:success:discrete:True\u003e\nunstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"17767179945489564978.mp4"}
+{"uid":"1727728458404655441","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the white bowl 3- put the orange into the white bowl 4- put the orange into the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6106257979753185800.mp4"}
+{"uid":"9715153703574023825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14666082098492661787.mp4"}
+{"uid":"8589215204378238172","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the white bowl 3- unstack the white bowl 4- put the orange into the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e","video":"12794587172239302307.mp4"}
+{"uid":"9607653883087551742","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4521371161196020288.mp4"}
+{"uid":"9446837030576631324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16886186980291112145.mp4"}
+{"uid":"10521467035914886312","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo out of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2389011366891875859.mp4"}
+{"uid":"17176659699063124311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cardboard box left flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12052477237074795860.mp4"}
+{"uid":"2278549220494197340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17437082128737128538.mp4"}
+{"uid":"11599236496673988185","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"301374239231127130.mp4"}
+{"uid":"2089208434598665847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nflip the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"654634996466088733.mp4"}
+{"uid":"5842342697405088581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the black pebble into the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"963464989471504220.mp4"}
+{"uid":"12815482791147901193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3574908995101992106.mp4"}
+{"uid":"11104177565101313835","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in the bowl 2- put the orange into the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e","video":"6655218351692552905.mp4"}
+{"uid":"4851633353040219104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife in the stationary holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5468064767047063457.mp4"}
+{"uid":"6879024487967417837","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl 7- put the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange into the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl 7- put the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9935947334260176429.mp4"}
+{"uid":"15622293985419919269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13784181536394976303.mp4"}
+{"uid":"1371704529638926692","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white chips packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7393418879481857830.mp4"}
+{"uid":"2673312644664181885","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e","video":"1631128582066507257.mp4"}
+{"uid":"13140468048279048130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace green packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3350285643638814916.mp4"}
+{"uid":"7285337689625389946","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl\n\u003c/PRED\u003e","video":"5940435880114980497.mp4"}
+{"uid":"13406615815411168190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4885502626924164068.mp4"}
+{"uid":"17392880482413810131","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1269537572629112737.mp4"}
+{"uid":"4345916108551453355","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"43854578246438809.mp4"}
+{"uid":"15075435905906671909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3101915940988184418.mp4"}
+{"uid":"13077877266200865067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tong in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3539686936997935659.mp4"}
+{"uid":"13926571947655316094","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the white bowl 3- put the orange into the white bowl 4- put the orange into the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17163910928523929229.mp4"}
+{"uid":"5734439830384856552","text":"\u003ctask:success:discrete:False\u003e\ndrop the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in the bowl 2- put the orange into the white bowl 3- done\n\u003c/PRED\u003e","video":"6401650259356120867.mp4"}
+{"uid":"8712130111217724319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16145457753125886448.mp4"}
+{"uid":"12957220133809695636","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl 2- unstack the white bowl 3- put the orange into the white bowl 4- put the orange into the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e","video":"18146621458469191248.mp4"}
+{"uid":"1266954930399860808","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl 2- put the orange into the white bowl 3- put the orange into the white bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e","video":"10976495729649923068.mp4"}
+{"uid":"18199533411825759763","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in the bowl\n\u003c/PRED\u003e","video":"2702409171684809400.mp4"}
+{"uid":"11136979806807376472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the disposable glass into the empty glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5545031041306375315.mp4"}
+{"uid":"11816877097697535965","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12525780728589758334.mp4"}
+{"uid":"11205858185441164975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pear in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3572773072728735873.mp4"}
+{"uid":"1074554723686584737","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"12047036049728330089.mp4"}
+{"uid":"12775695765588028323","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- unstack the glass 3- unstack the white bowl 4- unstack the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"1126906456589740534.mp4"}
+{"uid":"6808725970611098426","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl 6- put the orange into the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- done\n\u003c/PRED\u003e","video":"521088401384690433.mp4"}
+{"uid":"18103692770343644922","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"8993308688484398106.mp4"}
+{"uid":"8396791019855101631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the white bowl 4- unstack the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"17812165466362941410.mp4"}
+{"uid":"14399229702396419458","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange into the bowl 2- put the orange into the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12560573324951976846.mp4"}
+{"uid":"12492205265771733971","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"146624180609155885.mp4"}
+{"uid":"18169162239183052951","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"17594271818395257900.mp4"}
+{"uid":"15504355621680800752","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the white bowl 3- put the orange into the white bowl 4- put the orange into the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"12316741421431777608.mp4"}
+{"uid":"6769805557078157915","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16511298784524404189.mp4"}
+{"uid":"1880007386723145560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17132967860478722501.mp4"}
+{"uid":"6316990250619649822","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- unstack the white bowl 3- unstack the white bowl 4- put the orange into the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"7392186446011702268.mp4"}
+{"uid":"10372330600775158055","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- unstack the glass 3- unstack the white bowl 4- unstack the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1184111149644628673.mp4"}
+{"uid":"6847539569674649974","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the white bowl 3- unstack the white bowl 4- put the orange into the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass 2- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"14903637240288381784.mp4"}
+{"uid":"12172270105061802758","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cup 2- unstack the glass 3- unstack the white bowl 4- unstack the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cup\n\u003c/PRED\u003e","video":"15879240836334819655.mp4"}
+{"uid":"710343566749902903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4035584908972800171.mp4"}
+{"uid":"9216786424140533329","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the glass 4- unstack the white bowl 5- unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"10062341936262275087.mp4"}
+{"uid":"3011581729290992174","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the white bowl 4- unstack the white bowl 5- put the orange into the white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"18142879818879614464.mp4"}
+{"uid":"17547815603014714544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11025522409851703681.mp4"}
+{"uid":"16900300593569665520","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove banana to the right of the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6326107649205450722.mp4"}
+{"uid":"2389724391852659213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8198858768993488637.mp4"}
+{"uid":"6120319481008763024","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15835482781759649896.mp4"}
+{"uid":"13647106815480657358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5944883368191650037.mp4"}
+{"uid":"7235711216845444388","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16027745688454151529.mp4"}
+{"uid":"4959228967717923449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17168235174859386113.mp4"}
+{"uid":"6505189028370961523","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the red bull can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the red bull can 2- Place the red bull can inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the red bull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18428030625651612557.mp4"}
+{"uid":"12303249484540890228","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- Place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- Place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15825907471425247396.mp4"}
+{"uid":"2868293272889525403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the grey cloth in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"648311638317708615.mp4"}
+{"uid":"17719070491039596311","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 7 up can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8408078869830538183.mp4"}
+{"uid":"10516042916965234981","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5933378401954720111.mp4"}
+{"uid":"18433145685797000166","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red bull can in the organizer tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can in the organizer tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can in the organizer tray 2- done\n\u003c/PRED\u003e","video":"12127123971448978493.mp4"}
+{"uid":"3342760420078784262","text":"\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- put redbull on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"6609460993615549005.mp4"}
+{"uid":"16769644049555311711","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull can inside the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4400310185233047907.mp4"}
+{"uid":"4564388233764369012","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull can inside the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1843256785647950321.mp4"}
+{"uid":"15989421502541721625","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can inside the tray 2- place the can in the tray 3- place the can in the tray 4- Place the red bull can inside the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e","video":"9515198782909319787.mp4"}
+{"uid":"11901613747570238257","text":"\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray 5- Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"9825924019694985240.mp4"}
+{"uid":"1406573287092261054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8327451000176518657.mp4"}
+{"uid":"16033256818211223074","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14283109590411923698.mp4"}
+{"uid":"16082270155099836167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2527810321300091716.mp4"}
+{"uid":"9941841203439308524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5569922464734966724.mp4"}
+{"uid":"11128544721256423217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack paper cup on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17433039260782082085.mp4"}
+{"uid":"14797277281594751777","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put redbull on table 3- done\n\u003c/PRED\u003e","video":"4811132914463177229.mp4"}
+{"uid":"16258227142321907948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11601533502677089979.mp4"}
+{"uid":"2761055001582876716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10606408493181124826.mp4"}
+{"uid":"17430906847961764754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14169838207933789767.mp4"}
+{"uid":"11649296713895813270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white chip packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15695787130677554855.mp4"}
+{"uid":"9959352644222929253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cheddar into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12563748140741466343.mp4"}
+{"uid":"10651785602010845943","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the red bull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the red bull can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the red bull can 2- place the can in the tray 3- Place the red bull can inside the tray 4- done\n\u003c/PRED\u003e","video":"5706925316051848091.mp4"}
+{"uid":"1942180837555657792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nremove tissue paper from tissue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17754979869667181274.mp4"}
+{"uid":"16646333478394263820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7719218968968413102.mp4"}
+{"uid":"11866863958671364649","text":"\u003ctask:success:discrete:False\u003e\nput redbull on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull on table 2- put redbull on table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e","video":"17318704326459866790.mp4"}
+{"uid":"15077900487816976577","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red bull can inside the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray 5- Place the red bull can inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray 5- Place the red bull can inside the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2794284480865998649.mp4"}
+{"uid":"12138679265314670151","text":"\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- Place the redbull can on the table 3- place the can on the table 4- put redbull on table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"12172066235261090083.mp4"}
+{"uid":"15404821886823461899","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red bull can in the organizer tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can in the organizer tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can in the organizer tray 2- Place the red bull can inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e","video":"12484083393946174754.mp4"}
+{"uid":"5072191061680761002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2260712624211494034.mp4"}
+{"uid":"17301522314586972917","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- put redbull on table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e","video":"3019112978088214519.mp4"}
+{"uid":"4608660830372270977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5051011515918691507.mp4"}
+{"uid":"15706653899343882348","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the red bull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the red bull can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the red bull can 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray 5- Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e","video":"9272307557491792576.mp4"}
+{"uid":"4964236881743006021","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull on table 2- Place the redbull can on the table 3- place the can on the table 4- put redbull on table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e","video":"12351443915895076494.mp4"}
+{"uid":"13596208172653848222","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e","video":"13984752153298633040.mp4"}
+{"uid":"10100894548056918545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13759902504798202054.mp4"}
+{"uid":"911069429439383587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a stone in the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5833852342864836538.mp4"}
+{"uid":"14513492884044963324","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- Place the red bull can inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e","video":"433912179900927155.mp4"}
+{"uid":"12724806026955274078","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- put redbull on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16179411070593518027.mp4"}
+{"uid":"4423391035342158942","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can in the organizer tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can in the organizer tray 2- place the can in the tray 3- Place the red bull can inside the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e","video":"14698735923228758052.mp4"}
+{"uid":"8795169330419825716","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"13050420377302761029.mp4"}
+{"uid":"15435522136036651410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the binder clip in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16407751882699543677.mp4"}
+{"uid":"4342117674739576461","text":"\u003ctask:success:discrete:False\u003e\nPick up the red bull can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the red bull can 2- place the can in the tray 3- place the can in the tray 4- Place the red bull can inside the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the red bull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18354718322925894759.mp4"}
+{"uid":"17016323668645131477","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3400051065736728341.mp4"}
+{"uid":"4144283499120863521","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull on table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- put redbull on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e","video":"8028272747178745096.mp4"}
+{"uid":"17025253797901297325","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- put redbull on table 4- done\n\u003c/PRED\u003e","video":"7246624309388746536.mp4"}
+{"uid":"16259672009201080654","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- done\n\u003c/PRED\u003e","video":"6192513908303552127.mp4"}
+{"uid":"335355386255953646","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- Place the redbull can on the table 3- place the can on the table 4- put redbull on table 5- done\n\u003c/PRED\u003e","video":"14830428104694283480.mp4"}
+{"uid":"3512215502255432268","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red bull can in the organizer tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can in the organizer tray 2- place the can in the tray 3- place the can in the tray 4- Place the red bull can inside the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can in the organizer tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e","video":"3103097045909104345.mp4"}
+{"uid":"15266812134779051594","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- place the can on the table 3- put redbull on table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e","video":"16336011196444370551.mp4"}
+{"uid":"15994069351643691248","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5160285842328680101.mp4"}
+{"uid":"8958574066113696985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the lids in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7400263385080821462.mp4"}
+{"uid":"6615840498371297190","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- place the can in the tray 4- Place the red bull can inside the tray 5- done\n\u003c/PRED\u003e","video":"5002045849820318798.mp4"}
+{"uid":"12870463741071137922","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can inside the tray 2- Place the red bull can inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7719484282277837189.mp4"}
+{"uid":"1505144414010342888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12765024863748059549.mp4"}
+{"uid":"13576866971307498548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a bag  in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11099053060619504605.mp4"}
+{"uid":"11026804928741810479","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red bull can in the organizer tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can in the organizer tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray 5- Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Put the red bull can in the organizer tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can in the organizer tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8351660837972608631.mp4"}
+{"uid":"11153365377462982181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toy carrot in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3824694559089988304.mp4"}
+{"uid":"15053527479109096287","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- place the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"7710578374415916495.mp4"}
+{"uid":"10069922945487683562","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10020566485200198665.mp4"}
+{"uid":"5037482229369191140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace it in the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12437361138153888623.mp4"}
+{"uid":"8801838281358110428","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull on table 2- place the can on the table 3- put redbull on table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18108249903574217732.mp4"}
+{"uid":"11020606339121629996","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana in the small white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15257070360640123920.mp4"}
+{"uid":"10261870825800749701","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the red bull can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the red bull can 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the red bull can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the red bull can\n\u003c/PRED\u003e","video":"17339238610922169713.mp4"}
+{"uid":"5839734926072025099","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can inside the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1104129125367429144.mp4"}
+{"uid":"863025187710827080","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7437231575888914721.mp4"}
+{"uid":"13998875401426440829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStraight up the blue cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4463901692331248887.mp4"}
+{"uid":"7997188107980731485","text":"\u003ctask:success:discrete:False\u003e\nPlace the red bull can inside the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can inside the tray 2- Place the red bull can inside the tray 3- place the can in the tray 4- place the can in the tray 5- Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3548744609497167609.mp4"}
+{"uid":"18069851344313962203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8695409457760811948.mp4"}
+{"uid":"1181187498129379272","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9494356637880618194.mp4"}
+{"uid":"4786864878142858067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9262311891014883756.mp4"}
+{"uid":"15167670448825444138","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: immediate next step? \u003cPRED\u003eA: place the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the can in the tray 2- place the can in the tray 3- Place the red bull can inside the tray 4- done\n\u003c/PRED\u003e","video":"17746065706660036661.mp4"}
+{"uid":"15812980137333571185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11107018386058092418.mp4"}
+{"uid":"2024618756801790921","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- put redbull on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- Place the redbull can on the table 2- place the can on the table 3- Place the redbull can on the table 4- place the can on the table 5- put redbull on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15302958374268429732.mp4"}
+{"uid":"16577505333304971046","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput holder upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13343878591518951511.mp4"}
+{"uid":"10879626155179120177","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red bull can inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the cans into the rack Q: immediate next step? \u003cPRED\u003eA: Place the red bull can inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the cans into the rack. last 20 steps: 1- place the can in the tray 2- Place the red bull can inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red bull can inside the tray 2- place the can in the tray 3- Place the red bull can inside the tray 4- done\n\u003c/PRED\u003e","video":"15468791649495955333.mp4"}
+{"uid":"15982481962989775044","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e","video":"13667100412029428164.mp4"}
+{"uid":"11430642969653707639","text":"\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6309353979096767249.mp4"}
+{"uid":"11676765214437481182","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in a basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12094570040204290662.mp4"}
+{"uid":"5067547456360647077","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"800097411413172544.mp4"}
+{"uid":"8940142807579940782","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the spoon form holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the spoon form holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: pick up the spoon form holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl Q: immediate next step? \u003cPRED\u003eA: pick up the spoon form holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the spoon form holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the spoon form holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the spoon form holder 2- place that spoon on the napkin 3- pick up the orange from the bowl 4- place that orange on the table 5- done\n\u003c/PRED\u003e","video":"9723338606809238733.mp4"}
+{"uid":"5733649500434590299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon in left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2967090184644134665.mp4"}
+{"uid":"14622828482634489159","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer Q: immediate next step? \u003cPRED\u003eA: place that paper bag in the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that paper bag in the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that paper bag in the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place that paper bag in the paper bowl 2- pull the napkin 3- place that napkin leftside of the paper bowl 4- pick up the spoon form holder 5- place that spoon on the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that paper bag in the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place that paper bag in the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that paper bag in the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10992413089433616202.mp4"}
+{"uid":"160504776521563292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace sticky notes inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1468426462888503544.mp4"}
+{"uid":"13568808570844250643","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put oatmeal packet in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put oatmeal packet in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put oatmeal packet in the cup 2- place that napkin leftside of the paper bowl 3- pick up the spoon form holder 4- place that spoon on the napkin 5- pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput oatmeal packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put oatmeal packet in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put oatmeal packet in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput oatmeal packet in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16571494305955337358.mp4"}
+{"uid":"13957298665187033742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown colored sugar packet in the separator box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3293862086934440045.mp4"}
+{"uid":"14002204792508115453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9410350353371879849.mp4"}
+{"uid":"16761304740647422600","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put oatmeal packet in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput oatmeal packet in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12016120123374775140.mp4"}
+{"uid":"10645952887658545318","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table\n\u003c/PRED\u003e","video":"17843941992226569739.mp4"}
+{"uid":"16287935599647065874","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16958207500347165617.mp4"}
+{"uid":"13899283526244389995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6564900361872360849.mp4"}
+{"uid":"5238071556850410549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15371578633542506091.mp4"}
+{"uid":"4965642786408235001","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8391148180808859689.mp4"}
+{"uid":"1241891926682169794","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"14423094879462036017.mp4"}
+{"uid":"8812913453954202939","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"17932837397595977653.mp4"}
+{"uid":"14572110174501337491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green cup forward on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1148365460623570750.mp4"}
+{"uid":"5491495134034333285","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin Q: immediate next step? \u003cPRED\u003eA: place that napkin leftside of the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that napkin leftside of the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that napkin leftside of the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place that napkin leftside of the paper bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that napkin leftside of the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that napkin leftside of the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- place that napkin leftside of the paper bowl 2- pick up the spoon form holder 3- place that spoon on the napkin 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e","video":"7771481625049249987.mp4"}
+{"uid":"17532215646458112271","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"17609063451149956826.mp4"}
+{"uid":"15481319938723709535","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table\n\u003c/PRED\u003e","video":"17587937324529337784.mp4"}
+{"uid":"10697102873733275362","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"9584140867033845663.mp4"}
+{"uid":"16463470707545484272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4824978569554228401.mp4"}
+{"uid":"18393467347919219070","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- place an orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin Q: immediate next step? \u003cPRED\u003eA: place an orange on the table\n\u003c/PRED\u003e","video":"7469499583995026651.mp4"}
+{"uid":"9722041174318013995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14570814724760702053.mp4"}
+{"uid":"4181193516417263668","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the cup 2- place that napkin leftside of the paper bowl 3- pick up the spoon form holder 4- place that spoon on the napkin 5- pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put a packet in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a packet in the cup\n\u003c/PRED\u003e","video":"4899031645708190988.mp4"}
+{"uid":"490425968390669370","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on the tissue\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on the tissue 2- pick up the orange from the bowl 3- place that orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1808981746485714948.mp4"}
+{"uid":"2325417543688656067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11391285443652289850.mp4"}
+{"uid":"2207430300019244317","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15109927375308961477.mp4"}
+{"uid":"11314116202908335176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17348209145544026366.mp4"}
+{"uid":"8741573330102783905","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in a drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2451262738197704223.mp4"}
+{"uid":"7626735834619187730","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table 8- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table 8- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"12717023440513896270.mp4"}
+{"uid":"13672997778264101873","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin 7- pick up the orange from the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place that orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin 7- pick up the orange from the bowl Q: immediate next step? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that orange on the table\n\u003c/PRED\u003e","video":"3606605425830938592.mp4"}
+{"uid":"13801670386220563722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange pen in a pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4318758062242966138.mp4"}
+{"uid":"9168177072346831979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2227274021821819416.mp4"}
+{"uid":"15287308869043027163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the black pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7250193225142436299.mp4"}
+{"uid":"11086020736974651630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow marker into the leftmost black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10255545428775588433.mp4"}
+{"uid":"6069433714839664104","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13615747770742631512.mp4"}
+{"uid":"3238292006761801671","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace apple in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5386297919638113943.mp4"}
+{"uid":"11178690279810452165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper chit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9116269785309177574.mp4"}
+{"uid":"9233083293371974872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18321441070076917937.mp4"}
+{"uid":"6118137089290731696","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"1517272201061295115.mp4"}
+{"uid":"11986026166601130316","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10087628897622917967.mp4"}
+{"uid":"2536974724390338947","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"14094623126834575271.mp4"}
+{"uid":"9803082269280167796","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"13347748311158160767.mp4"}
+{"uid":"15477158536054373334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12971542830616299744.mp4"}
+{"uid":"3006914135307400572","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl Q: immediate next step? \u003cPRED\u003eA: pull the napkin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the napkin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pull the napkin 2- place that napkin leftside of the paper bowl 3- pick up the spoon form holder 4- place that spoon on the napkin 5- pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: pull the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16182692109621606365.mp4"}
+{"uid":"10415563002773694291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"320203737903742251.mp4"}
+{"uid":"10610009185326612319","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a tissues on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl Q: immediate next step? \u003cPRED\u003eA: place a tissues on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place a tissues on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a tissues on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a tissues on table 2- pick up the spoon form holder 3- place that spoon on the napkin 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a tissues on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a tissues on table\n\u003c/PRED\u003e","video":"17975554440998883154.mp4"}
+{"uid":"9094213091154216957","text":"\u003ctask:success:discrete:False\u003e\npick up the orange from the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin Q: immediate next step? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange from the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder 6- place that spoon on the napkin Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange from the bowl 2- place that orange on the table 3- done\n\u003c/PRED\u003e","video":"19411710345463926.mp4"}
+{"uid":"10980873476766095000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nEnter the office ahead Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4261578284241869170.mp4"}
+{"uid":"11967188145084731917","text":"\u003ctask:success:discrete:False\u003e\nput tissues on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl Q: immediate next step? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissues on the table 2- pick up the spoon form holder 3- place that spoon on the napkin 4- pick up the orange from the bowl 5- place that orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e","video":"2183704744355784201.mp4"}
+{"uid":"11734837123943011626","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8306324413009837043.mp4"}
+{"uid":"12140216006802017068","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the paper bag from the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the paper bag from the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the paper bag from the organizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the paper bag from the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: pick up the paper bag from the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the paper bag from the organizer\n\u003c/PRED\u003e","video":"16626318027371842031.mp4"}
+{"uid":"9863254096287900706","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon on the tissues Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a spoon on the tissues Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon on the tissues 2- place that orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon on the tissues\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place a spoon on the tissues\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon on the tissues\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon on the tissues\n\u003c/PRED\u003e","video":"79131427657061871.mp4"}
+{"uid":"16368533474851513833","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place that spoon on the napkin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace that spoon on the napkin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder Q: next 5 steps? \u003cPRED\u003eA: 1- place that spoon on the napkin 2- pick up the orange from the bowl 3- place that orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace that spoon on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. Q: immediate next step? \u003cPRED\u003eA: place that spoon on the napkin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place that spoon on the napkin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some oatmeal in the paper bowl.  then get a napkin and put a spoon on it next to the bowl.  lastly take an orange from the white bowl and place it next to the paper bowl. last 20 steps: 1- pick up the paper bag from the organizer 2- place that paper bag in the paper bowl 3- pull the napkin 4- place that napkin leftside of the paper bowl 5- pick up the spoon form holder Q: immediate next step? \u003cPRED\u003eA: place that spoon on the napkin\n\u003c/PRED\u003e","video":"2489095477706088892.mp4"}
+{"uid":"13175235793744558930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown packet into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3741692877750324741.mp4"}
+{"uid":"107310950144824683","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissues on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissues on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3225445725525230687.mp4"}
+{"uid":"14099425006957230019","text":"\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table 8- place the fruit on the table 9- place the fruit on the table 10- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table 8- place the fruit on the table 9- place the fruit on the table 10- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5878102039303080481.mp4"}
+{"uid":"10324058863317174206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass on stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6581885034720488530.mp4"}
+{"uid":"13340476460137704228","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"2701229269994440085.mp4"}
+{"uid":"2942520383275473459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a cereal jar on the chest of drawers Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6288568699406367880.mp4"}
+{"uid":"11182973384969341070","text":"\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"10744345313761564892.mp4"}
+{"uid":"14482107105635568961","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the pen on the table 7- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the pen on the table 7- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"15253822361224393800.mp4"}
+{"uid":"5482052632221990799","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"524971866590539214.mp4"}
+{"uid":"3439845815970037936","text":"\u003ctask:success:discrete:True\u003e\nplace a tissues on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a tissues on table\n\u003c/PRED\u003e","video":"3081556541326340322.mp4"}
+{"uid":"11002781241239524717","text":"\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"13426733040710804885.mp4"}
+{"uid":"4244149171738771927","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"7747044934275109058.mp4"}
+{"uid":"10328510578657813497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"227552929182296172.mp4"}
+{"uid":"10961299816738301463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8859450314441525743.mp4"}
+{"uid":"1989934974039638926","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the blue pens from the holder. last 20 steps: 1- place the pen on the table 2- place the pen on the table 3- place the pen on the table 4- place the pen on the table 5- place the pen on the table 6- place the pen on the table 7- place the pen on the table 8- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15380103673349984783.mp4"}
+{"uid":"421166678712184886","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5276933115852180115.mp4"}
+{"uid":"12924187811722061757","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11734269983034607879.mp4"}
+{"uid":"10245587737324420270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14238799841505533703.mp4"}
+{"uid":"4662055328593041057","text":"\u003ctask:success:discrete:False\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table 8- place the fruit on the table 9- place the fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the fruit on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take out all the apples from the bowl. last 20 steps: 1- place the fruit on the table 2- place the fruit on the table 3- place the fruit on the table 4- place the fruit on the table 5- place the fruit on the table 6- place the fruit on the table 7- place the fruit on the table 8- place the fruit on the table 9- place the fruit on the table Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take out all the apples from the bowl Q: immediate next step? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"18324070654117045385.mp4"}
+{"uid":"609523766060530398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2418051359454227575.mp4"}
+{"uid":"4455316379143852930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14770665452383472908.mp4"}
+{"uid":"11021089755591254354","text":"\u003ctask:success:discrete:True\u003e\nplace the fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fruit on the table\n\u003c/PRED\u003e","video":"6565600314736572093.mp4"}
+{"uid":"14740197757673334749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1426465649962001919.mp4"}
+{"uid":"13928897034201492298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15723063730489812493.mp4"}